
APPROACH_VELOCITY = 0.0025
CONTACT_FORCE_THRESH = 3.0
GLOBAL_VELOCITY = 0.0025
HEIGHT_STEP = 0.17
ACTIVITY_FORCE_THRESH = 3.0
DANGEROUS_FORCE_THRESH = 10.0
LATITUDE_STEP = 0.12
LOCAL_VELOCITY = 0.0025
LONGITUDE_STEP = 0.06
RETREAT_HEIGHT = 1.65
SAFETY_RETREAT_HEIGHT = 1.9
SAFETY_RETREAT_VELOCITY = 0.0380
SLOW_RETREAT_VELOCITY = 0.0200
SHAVE_HEIGHT = 0.8
TIMEOUT_TIME = 30.0

outcomes_spa = ['succeeded','preempted','aborted']

class TransitionIDs:
    ELL_GLOBAL_START      =  1
    ELL_UP_START          =  2
    ELL_DOWN_START        =  3
    ELL_LEFT_START        =  4
    ELL_RIGHT_START       =  5
    ELL_OUT_START         =  6
    ELL_IN_START          =  7
    ELL_SHAVE_START       =  8
    MOVE_COLLISION        =  9
    ELL_RETREAT_GLOBAL    = 10
    ELL_MOVE_GLOBAL       = 11
    ELL_APPROACH_GLOBAL   = 12
    ELL_RETREAT_SLOW      = 13
    ELL_RETREAT_FAST      = 14
    HOLDING               = 15

